CN109977455A - It is a kind of suitable for the ant group optimization path construction method with terrain obstruction three-dimensional space - Google Patents
It is a kind of suitable for the ant group optimization path construction method with terrain obstruction three-dimensional space Download PDFInfo
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Abstract
The invention discloses a kind of suitable for the ant group optimization path construction method with terrain obstruction three-dimensional space, includes the following steps: step 1, map space is modeled over the ground；O-XYZ coordinate system is generated in three dimensions, and O is origin, and X, Y, Z respectively correspond X, Y, Z axis, and sliding-model control is carried out to space, size*size*size spatial point is generated in the coordinate system, and wherein size indicates that density, each spatial point represent a location point；Robot of the invention constantly passes through detection operation and obtains local environment, is handled later using local environment of the ant group algorithm to acquisition, filters out effective terrain information and calculated, can reduce the cost of operation；Path correction operation and fractured operation are added in ant group algorithm to carry out local optimum to the path calculated, and compensate for the defect that algorithmic theory of randomness bring falls into path local optimum.
Description
Technical field
The present invention relates to path optimizations and intelligent Computation Technology field, and in particular to it is three-dimensional that one kind is suitable for band terrain obstruction
The ant group optimization path construction method in space.
Background technique
With the development of science and technology, the mankind recognize nature to seek more resources and widen living space
Knowledge is more and more wide, and the exploration of nature is also expanded and goed deep into continuous.At this stage, human development has gone out the machine of various functions
Device people assists the exploration cause of the mankind, wherein the fields such as military surveillance, seabed exploration, space flight and aviation and safety medical treatment obtain
It is widely applied.In military affairs investigation, need act of investigation that there is concealment and high efficiency；In seabed and aviation are explored, need
Want the safety and flexibility of robot；And in the medical field, need accuracy of robot etc.；In these areas,
Robot provides convenience and high efficiency for the exploration of the mankind, has greatly pushed the process explored to nature.
Robot needs detecting devices and calculates equipment to provide the support of the acquisition and processing of information for it in operation,
For Seabed navigation, aviation navigation channel etc., wherein Path Planning Technique plays a crucial role, which is broadly divided into
Two stages of spatial modeling and route searching；For the three-dimensional space with terrain obstruction, when robot moves in space, need
Path Planning Technique provides correct routing information for it, arrives barrier to avoid collision and quickly reaches terminating point.Nowadays, exist
Spatial modeling stage, the method for constructing three-dimensional space have Grid Method, Visual Graph method, cut line-plot method, Voronoi diagram method etc., respectively
There are the advantage and disadvantage of itself, good route searching effect can be obtained but as long as can be combined well with path search algorithm.?
The route searching stage has developed various algorithms, mainly A* algorithm, dijkstra's algorithm, neural network, artificial gesture now
Field method, genetic algorithm, particle swarm algorithm etc.；Deterministic algorithm therein can search out well as a result, still its time is multiple
It is miscellaneous to spend height；Although nondeterministic algorithm not necessarily searches out optimal as a result, still its time consumption is much calculated than certainty
Method will be lacked, and in nondeterministic algorithm can to search out come path carry out local optimum processing, with make up algorithm itself with
Uncertainty brought by machine.
Summary of the invention
The purpose of the present invention is to overcome the shortcomings of the existing technology and deficiency, provides a kind of three-dimensional suitable for band terrain obstruction
The ant group optimization path construction method in space, this method are handled local environment using ant group algorithm, are filtered out effective
Terrain information is calculated, and be can reduce operation cost, is greatly improved working efficiency.
The purpose of the invention is achieved by the following technical solution:
It is a kind of suitable for the ant group optimization path construction method with terrain obstruction three-dimensional space, include the following steps:
Step 1, map space is modeled over the ground；O-XYZ coordinate system is generated in three dimensions, and O is origin, and X, Y, Z divide
X, Y, Z axis is not corresponded to, and sliding-model control is carried out to space, generates size*size*size spatial point in the coordinate system,
Wherein size indicates that density, each spatial point represent a location point；
Wherein, feasible point and non-feasible point are divided into the spatial point, 0 indicates non-feasible point, and 1 indicates feasible point；It is right
In non-feasible point, each barrier is analyzed, judges whether the barrier covers certain spatial point, is, which is labeled as
Non- feasible point；For feasible point, if at least one is non-feasible point in neighborhood, which is defined as marginal point；For
The marginal point detected, if there is marginal point that cannot be direct-connected with detection source point in the vertex neighborhood, this point labeled as latent
Force；For relationship between points, it is divided into direct-connected and can not be direct-connected；It is direct-connected be meant that connect between two o'clock do not touch
Barrier；Conversely, direct-connected can not mean that the line between two o'clock has touched barrier；
All ants when iteration starts each time, are placed in starting point by step 2；Then ant is every enters next position
First ensure that present position point has executed detection operation before setting a little, then the potentiality obtained to detection press probability and carry out greed
The mode of strategy or roulette is selected, and next path point by the point selected as ant, until all ant structures
Iteration terminates after having built path；
Step 3, the every shifting of ant move a step, and algorithm executes local Pheromone update to respective stretch；
Step 4, each time after iteration, all ants have constructed the path of itself, respectively carry out path at this time and entangle
Positive operation, then filter out the present age optimal ant and update successive dynasties optimal ant, if successive dynasties optimal ant has update, to the ant
Execute local search；
Wherein, the local search specifically: the location point on path is traversed from front to back, to the position traversed
The two unduplicated marginal points a little split into neighborhood are set, if the path length constituted after splitting is reduced, retain this
Kind is split, and is then traversed next path point and is executed same operation, until all path points traversal is completed；
Step 5 carries out the update of global information element according to successive dynasties optimal ant, while to the letter between the vertex neighborhood of path
Breath element is updated；
Wherein, the pheromones between the vertex neighborhood of path are updated specifically: to the path of a fullpath
Point carries out traversal from front to back, all sides constituted to all the points of all the points to the next vertex neighborhood of current vertex neighborhood
Pheromone update is carried out, stipulated that the Bian Bujin that starting point does not have neighborhood and terminating point and previous neighborhood of a point to be constituted
Row information element updates；
Step 6, if current iteration number is not up to maximum number of iterations, otherwise return step two exports successive dynasties ant
Routing information, terminate algorithm.
Preferably, the detection operation in the step 2 specifically: when detector detects unknown map information, based on current
Point is by the potentiality point on the physical techniques detection maps such as sonar, and in data structure, these potentiality points are the children for detecting source point
Child node；And the definition of potentiality point is:, cannot be with detection source point if existed in the vertex neighborhood for the marginal point detected
This point is then labeled as potentiality point by direct-connected marginal point.
Preferably, the path correction operation in the step 4 specifically: according to the shortest principle of straight line between two o'clock, delete
Subtract the excess path point on fullpath, so that the operation that path length is further reduced.
The present invention have compared with prior art it is below the utility model has the advantages that
(1) robot of the invention constantly passes through detection operation acquisition local environment, later using ant group algorithm to acquisition
Local environment handled, filter out effective terrain information and calculated, the cost of operation can be reduced；
(2) be added in ant group algorithm of the invention path correction operation and fractured operation can to the path calculated into
Row local optimum compensates for the defect that algorithmic theory of randomness bring falls into path local optimum；And the present invention can be suitably used for not
Know the two kinds of situations in space and global known spatial, adaptable strong feature；
(3) present invention is added to the update of neighborhood information element in operation, is added to local randomness, energy for the movement of ant
Path to obtain to search carries out local correction and optimization, the reliability of optimal ant is enhanced, to preferably guide it
His ant is mobile, so that algorithm obtains the promotion of performance on the whole.
Detailed description of the invention
Fig. 1 is overall flow figure of the invention；
Fig. 2 is the two-dimensional top-down view of cuboid barrier and marginal point of the present invention；
Fig. 3 is that ant colony of the present invention detects schematic diagram；
Fig. 4 is path correction schematic diagram of the present invention；
Fig. 5 is fractured operation schematic diagram of the present invention；
Fig. 6 is that neighborhood information element of the present invention updates schematic diagram.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Map space models the present invention over the ground first, and all ants are then initialized the starting point in aircraft,
Every ant first ensures to cross landform with sonar detection based on current location point before the movement later, that is, executes detection operation and obtain
Potentiality point is taken, next location point is moved again to, until all ants are moved to terminating point.Finally according to every ant
Routing information export shortest path.
Specifically, as shown in figs. 1 to 6, a kind of suitable for the ant group optimization path construction with terrain obstruction three-dimensional space
Method includes the following steps:
(1) map space is modeled over the ground；O-XYZ coordinate system is generated in three dimensions, and O is origin, and X, Y, Z are right respectively
X, Y, Z axis is answered, and sliding-model control is carried out to space, size*size*size spatial point is generated in this coordinate system, wherein
Size indicates that density, each spatial point represent a location point.
(2) when iteration starts each time, all ants are placed in starting point.Then ant is every enters next location point
First ensure that present position point has made detection operation before, then to the obtained potentiality of detection press probability carry out Greedy strategy or
The mode of roulette is selected, and next path point by the point selected as ant, until all ants have constructed road
Iteration terminates after diameter.
(3) the every shifting of ant moves a step, and algorithm executes local Pheromone update to respective stretch.
(4) path of itself has been constructed in all ants, has respectively carried out path correction operation, then has been filtered out contemporary optimal
Ant simultaneously updates successive dynasties optimal ant, if successive dynasties optimal ant has update, executes local search to the ant.
(5) update that global information element is carried out according to successive dynasties optimal ant, in addition to the pheromones between the vertex neighborhood of path
It is updated.
(6) if current iteration number is not up to maximum number of iterations, return step (2) otherwise exports successive dynasties ant
Routing information terminates algorithm.
When map space is modeled over the ground, feasible point and non-feasible point are divided into spatial point, 0 indicates non-feasible point, 1 table
Show feasible point.For non-feasible point, each barrier is analyzed, judges whether the barrier covers certain spatial point, is then this
Spatial point is labeled as non-feasible point.For feasible point, if at least one is non-feasible point in neighborhood, which is defined as side
Edge point；For the marginal point detected, if there is marginal point that cannot be direct-connected with detection source point in the vertex neighborhood, this
Point is labeled as potentiality point.For relationship between points, it is divided into direct-connected and can not be direct-connected.It is direct-connected to be meant that between two o'clock
Barrier is not touched in connection；Conversely, direct-connected can not mean that the line between two o'clock has touched barrier.
Due to cartographic information be at the beginning it is unknown, robot needs gradually detection map information, and detects quilt each time
The detection operation being defined as in algorithm when this refers to that detector detects unknown map information, passes through the objects such as sonar based on current point
Potentiality point on reason technology detection map, in data structure, these potentiality points are the child nodes for detecting source point.And potentiality point
Definition be: for the marginal point detected, if exist in the vertex neighborhood cannot with the direct-connected marginal point of detection source point,
This point is labeled as potentiality point.
Every ant needs to carry out correction operation to path after having constructed path: according to the shortest original of straight line between two o'clock
Then, the excess path point on fullpath is deleted, so that path length is further reduced.
If the optimal ant of history has update, then executes local search operation: on path after each iteration is completed
Location point is traversed from front to back, two unduplicated marginal points in neighborhood is split into the location point traversed, if tearing open
The path length constituted after point is reduced, then retains this fractionation, is then traversed next path point and is executed same behaviour
Make, is completed until all path points traverse.
When carrying out global information element update, it is also necessary to be updated to the pheromones of neighborhood: to the road of a fullpath
Diameter point carries out traversal from front to back, is constituted to all the points of all the points to the next vertex neighborhood of current vertex neighborhood all
Side carries out Pheromone update, stipulated that the side that starting point does not have neighborhood and terminating point and previous neighborhood of a point to be constituted is not
Carry out Pheromone update.
Following is the specific embodiment of the present invention:
(1) map space models；
When map space is modeled over the ground, feasible point and non-feasible point are divided into spatial point, 0 indicates non-feasible point, 1 table
Show feasible point.For non-feasible point, each barrier is analyzed, judges whether the barrier covers certain spatial point, is then this
Spatial point is labeled as non-feasible point.For feasible point, if at least one is non-feasible point in neighborhood, which is defined as side
Edge point；For the marginal point detected, if there is marginal point that cannot be direct-connected with detection source point in the vertex neighborhood, this
Point is labeled as potentiality point；Remaining is common feasible point.
As shown in Figure 1, be the two-dimensional top-down view of cuboid barrier, ABCD is rectangle barrier in figure, corresponding four
A vertex A, B, C, D are non-feasible points, and the dotted line dot on periphery is marginal point, and black circle be without any attribute can
Row point.
After map structuring, need to define standard direct-connected between two o'clock.The present invention divides the relationship between two o'clock
For that can be connected to and can not be connected to: being judged to be connected to if two o'clock line does not touch barrier；Conversely, if two o'clock line is touched
Then it is judged to be connected to barrier.
(2) ant group algorithm；
In the experiment each time, the information of each ant is initialized first and path point is constituted two-by-two side
Pheromones, subsequently into iterative cycles.
When iteration starts each time, all ants are first placed in starting point.Then ant is every enters next position
First ensure that present position point has carried out detection operation before point, then the potentiality obtained to detection press probability and carry out greedy plan
Slightly or the mode of roulette is selected, and next path point by the point selected as ant, until all ants construct
Iteration terminates behind complete path.
Detection is operated, specific execution is as follows: the current detection source point of label has executed detection and has operated first, then sentences
Whether disconnected detection source point can be direct-connected with terminating point, if can if marker detection source point can be direct-connected with terminating point, and exit function；If no
Can, then the point for meeting potentiality point condition is added to Candidate Set by the spatial point that traversal has currently obtained.Finally in Candidate Set not
The potentiality point accessed is set as the child of detection source point, and detection source point is set as the father of itself.
As shown in Fig. 2, being the process of robot probe's map, machine human desires reaches terminating point E from starting point S, exists first
Point S has barrier by scouting the discovery direction ∠ ASB, and midpoint A and point B are the barrier side detected based on point S respectively
Two of edge are extreme, while being also potentiality point, and ant passes through Greedy strategy or roulette selection path SA or SB at this time.If there is ant
Ant has gone to point A, then ant is detected from point A again, obtains point C and point D；If there is ant to go to point B, ant is again from point
B is detected, and point C and point D are obtained.And due to point C and point D can direct-connected terminating point E, so no longer detecting.Last basis
The length in the walked path of every ant judges which ant is more preferable.
The every shifting of ant later moves a step, and algorithm executes local Pheromone update to respective stretch.
Behind the path that all ants have constructed itself, path correction operation is respectively carried out at this time: according between two o'clock
The shortest principle of straight line deletes the excess path point on fullpath, so that path length is further reduced.As shown in figure 3,
The path that Ant Search comes out is that ABCD is optimized for AD after path correction operates.
After path correction is complete, filters out the present age optimal ant and update successive dynasties optimal ant, if successive dynasties optimal ant has more
Newly, then local search is executed to the ant: the location point on path is traversed from front to back, the location point traversed is torn open
Two unduplicated marginal points being divided into neighborhood retain this fractionation if the path length constituted after splitting is reduced,
Then it traverses next path point and executes same operation, completed until all path points traverse.As shown in figure 4, original route
For OBE, fractured operation splits into two unduplicated marginal point A and C in neighborhood to point B, last constituted path OACE's
Length is obviously shorter than OBE, so retaining split result.
Later, global information element update is carried out to the optimal ant of history.It also needs to execute the update of neighborhood information element simultaneously: to one
The path point of fullpath carries out traversal from front to back, to all the points the owning to next vertex neighborhood of current vertex neighborhood
All sides that point is constituted carry out Pheromone update, and the increment of pheromones is 1/2 that global information element updates, stipulated that starting
The side that the no neighborhood of point and terminating point and previous neighborhood of a point are constituted is without Pheromone update.As shown in figure 5, AA '
Point B ' C ' D ' E ' F ' G ' the H ' in point BCDEFGHI and point A ' neighborhood for the target side that global information element updates, in point A neighborhood
I ' is marginal point, and the update of neighborhood information element herein refers to: using point B as the side BB ' of starting point, BC ', BD ', BE ', BA ',
BF ', BG ', BH ', BI ' pheromones increment be AA ' 1/2, similarly using point CDEFGHI as the information delta on the side of starting point
It is 1/2, removes AA ', totally 80 sides need to update pheromones.
After maximum number of iterations to be achieved, the routing information of successive dynasties optimal ant is exported, terminates algorithm.
The parameter setting of this algorithm are as follows:
Robot will calculate shortest path in the three-dimensional working space with terrain obstruction, and Path Planning Technique is needed to have
There are high efficiency and accuracy.
Robot of the invention constantly passes through detection operation and obtains local environment, later using ant group algorithm to the office of acquisition
Portion's environment is handled, and is filtered out effective terrain information and is calculated, can reduce the cost of operation；It is added in ant group algorithm
Path correction operation and fractured operation can carry out local optimum to the path calculated, and compensate for algorithmic theory of randomness bring and fall into
Enter the defect of path local optimum；And the present invention can be suitably used for the two kinds of situations in unknown space and global known spatial, have suitable
The characteristics of Ying Xingqiang；It is added to the update of neighborhood information element in operation, is added to local randomness for the movement of ant, can be pair
It searches for obtained path and carries out local correction and optimization, the reliability of optimal ant is enhanced, to preferably guide other ants
Ant is mobile, so that algorithm obtains the promotion of performance on the whole.
Above-mentioned is the preferable embodiment of the present invention, but embodiments of the present invention are not limited by the foregoing content,
His any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention, should be
The substitute mode of effect, is included within the scope of the present invention.
Claims (3)
1. a kind of suitable for the ant group optimization path construction method with terrain obstruction three-dimensional space, which is characterized in that including following
Step:
Step 1, map space is modeled over the ground；O-XYZ coordinate system is generated in three dimensions, and O is origin, and X, Y, Z are right respectively
X, Y, Z axis is answered, and sliding-model control is carried out to space, generates size*size*size spatial point in the coordinate system, wherein
Size indicates that density, each spatial point represent a location point；
Wherein, feasible point and non-feasible point are divided into the spatial point, 0 indicates non-feasible point, and 1 indicates feasible point；For non-
Feasible point analyzes each barrier, judges whether the barrier covers certain spatial point, be then the spatial point labeled as it is non-can
Row point；For feasible point, if at least one is non-feasible point in neighborhood, which is defined as marginal point；For having detected
This point is labeled as potentiality point if there is marginal point that cannot be direct-connected with detection source point in the vertex neighborhood by the marginal point arrived；
For relationship between points, it is divided into direct-connected and can not be direct-connected；It is direct-connected be meant that connect between two o'clock do not touch obstacle
Object；Conversely, direct-connected can not mean that the line between two o'clock has touched barrier；
All ants when iteration starts each time, are placed in starting point by step 2；Then ant is every enters next location point
First ensure that present position point has executed detection operation before, then the potentiality obtained to detection press probability and carry out Greedy strategy
Or the mode of roulette is selected, and next path point by the point selected as ant, until all ants have constructed
Iteration terminates behind path；
Step 3, the every shifting of ant move a step, and algorithm executes local Pheromone update to respective stretch；
Step 4, each time after iteration, all ants have constructed the path of itself, respectively carry out path correction behaviour at this time
Make, then filter out the present age optimal ant and update successive dynasties optimal ant, if successive dynasties optimal ant has update, which is executed
Local search；
Wherein, the local search specifically: the location point on path is traversed from front to back, to the location point traversed
Two unduplicated marginal points in neighborhood are split into, if the path length constituted after splitting is reduced, retain this tear open
Point, it then traverses next path point and executes same operation, completed until all path points traverse；
Step 5 carries out the update of global information element according to successive dynasties optimal ant, while to the pheromones between the vertex neighborhood of path
It is updated；
Wherein, the pheromones between the vertex neighborhood of path are updated specifically: are clicked through to the path of a fullpath
The traversal of row from front to back, all sides constituted to all the points of all the points to the next vertex neighborhood of current vertex neighborhood carry out
Pheromone update, stipulated that the side that starting point does not have neighborhood and terminating point and previous neighborhood of a point to be constituted is without letter
Breath element updates；
Step 6, if current iteration number is not up to maximum number of iterations, otherwise return step two exports the road of successive dynasties ant
Diameter information terminates algorithm.
2. according to claim 1 be suitable for the ant group optimization path construction method with terrain obstruction three-dimensional space, spy
Sign is that the detection in the step 2 operates specifically: when detector detects unknown map information, passes through sound based on current point
The potentiality point received on equal physical techniques detection map, in data structure, these potentiality points are the child nodes for detecting source point；And
The definition of potentiality point is: for the marginal point detected, if there is side that cannot be direct-connected with detection source point in the vertex neighborhood
This point is then labeled as potentiality point by edge point.
3. according to claim 1 be suitable for the ant group optimization path construction method with terrain obstruction three-dimensional space, spy
Sign is that the path correction in the step 4 operates specifically: according to the shortest principle of straight line between two o'clock, deletes complete road
Excess path point on diameter, so that the operation that path length is further reduced.
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| CN115118724A (en) * | 2022-06-23 | 2022-09-27 | 福州大学 | Ant colony algorithm-based multi-unmanned aerial vehicle-assisted edge computing system deployment optimization method |
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